Multi-sensor lidar

Abstract

A light detection and ranging system can have a camera sensor connected to an optical sensor and a controller with the optical sensor consisting of a light source coupled to a emitter and a detector for identifying downrange targets with photons. The camera sensor consisting of a lens for capturing a downrange image. The controller can track downrange targets with the camera sensor at a different frame rate than the optical sensor.

What is claimed is: 
     
         1 . A light detection and ranging system comprising a controller connected to a first sensor and a second sensor, each sensor configured to detect downrange targets with light energy, the first sensor having a different frame rate than the second sensor. 
     
     
         2 . The light detection and ranging system of  claim 1 , wherein the first sensor is a camera. 
     
     
         3 . The light detection and ranging system of  claim 2 , wherein the camera has a frame rate of 120 frames per second or less. 
     
     
         4 . The light detection and ranging system of  claim 2 , wherein the camera has a 4K resolution or greater. 
     
     
         5 . The light detection and ranging system of  claim 1 , wherein the second sensor is an optical detector with a 1550 nm wavelength resolution or less. 
     
     
         6 . The light detection and ranging system of  claim 5 , wherein each sensor operates at a maximum possible frame rate, the first sensor operating at a greater frame rate than the second sensor. 
     
     
         7 . A method comprising:
 connecting a camera sensor and an optical sensor to a controller;   activating an optical source with the controller to send a light beam towards a first target and a second target, each target positioned downrange of the optical source;   capturing an optical image from the camera sensor;   plotting a location of a first target in response to the optical image;   assigning a probability, with the controller, of photons returning to the optical sensor belonging to the second target; and   identifying, with the optical sensor, a first depth of the first target and a second depth of the second target from photons returning to the optical sensor.   
     
     
         8 . The method of  claim 7 , wherein the controller assigns the probability of returning photons belonging to the second target before a next frame is generated by the camera sensor. 
     
     
         9 . The method of  claim 7 , wherein the controller assigns a unique identification value to each target in response to the optical image. 
     
     
         10 . The method of  claim 9 , wherein the unique identification values are utilized by the controller to continuously track movement of the respective first target and second target. 
     
     
         11 . The method of  claim 9 , wherein the controller generates an algorithm to concurrently track the first target and the second target. 
     
     
         12 . The method of  claim 11 , wherein the tracking of the first target and second target occurs continuously from frame to frame. 
     
     
         13 . The method of  claim 7 , wherein the controller measures reflectance from the first target to determine a size and shape of the first target. 
     
     
         14 . The method of  claim 7 , wherein the optical sensor emits a plurality of light beams to generate a point cloud to identify the first depth and second depth. 
     
     
         15 . The method of  claim 7 , wherein the controller generates a strategy consisting of one or more operational parameter alterations to accomplish a theme. 
     
     
         16 . The method of  claim 15 , wherein the theme is power conservation and the operational parameter alteration is operating the camera sensor with a lower resolution. 
     
     
         17 . The method of  claim 15 , wherein the theme is performance and the operational parameter alteration is increasing a frame rate for the camera sensor. 
     
     
         18 . The method of  claim 15 , wherein the theme is reliability and the operational parameter alteration is activating a secondary detector to conduct redundant measurement of reflectance of at least one downrange target. 
     
     
         19 . The method of  claim 15 , wherein the operational parameter alteration is operating the camera sensor and optical sensor sequentially. 
     
     
         20 . The method of  claim 15 , wherein the operational parameter alteration is changing pulse width for the optical sensor.
 a camera sensor connected to an optical sensor and a controller, the optical sensor comprising a light source coupled to a emitter and a detector for identifying downrange targets with photons, the camera sensor comprising a lens for capturing a downrange image, the controller tracking downrange targets with the camera sensor at a different frame rate than the optical sensor.